JP2006195877A - Working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a working machine enabling an operator to grasp a direction of an obstacle or the like to the working machine while continuing the work without forgetting to determine the presence/absence of the obstacle. <P>SOLUTION: When an obstacle or the like is detected by an ultrasonic sensor 39 disposed on the left-hand side of a revolving body 8, an alarming sound is outputted from a speaker 42 on the left-hand side of the driver's seat 23. When an obstacle or the like is detected by an ultrasonic sensor 40 disposed on the rear of the revolving body 8, an alarming sound is outputted from a speaker 43 behind the driver's seat 23. When an obstacle or the like is detected by an ultrasonic sensor 41 disposed on the right-hand side the revolving body 8, an alarming sound is outputted from a speaker 44 on the right-hand side of the driver's seat 23. The driver can thereby be notified of the direction of an obstacle or the like toward the revolving body 8. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention is applied to a self-propelled work machine or a work machine having a turning body, detects the presence of an object such as an obstacle or a person in a predetermined area around the work machine, and notifies the driver of the presence. It relates to a working machine.

  In the prior art, object detection means configured by a plurality of ultrasonic sensors and proximity sensors that detect the presence of an object in a predetermined area around the work machine and output an object detection signal, and the object detection signal Some have a notifying means for notifying the driver of the direction and distance of an object with respect to the obtained work machine. The conventional technology configured as described above informs the driver of the direction and distance of obstacles and people around the work machine to the work machine. Can contribute to prevention.

  As this type of prior art, there are, for example, those disclosed in Patent Document 1 and those disclosed in Patent Document 2.

  The prior art disclosed in Patent Document 1 is applied to a hydraulic excavator, and includes a monitor panel that displays the position of an obstacle or the like with respect to the hydraulic excavator as a notification unit.

The prior art shown in Patent Document 2 is applied to a hydraulic excavator, and as a notification means, a buzzer for notifying that an obstacle or the like is present around the hydraulic excavator, and the direction and distance of the obstacle to the hydraulic excavator. A right side display lamp, a left side display lamp, and a center rear display lamp. The right side display lamp notifies the presence of an obstacle or the like on the right side of the excavator by blinking, and informs the distance from the excavator to the obstacle or the like by the length of the blinking cycle. The left-side display lamp notifies that an obstacle or the like is present on the left side of the excavator by blinking, and informs the distance from the excavator to the obstacle or the like by the length of the blinking cycle. The center rear display lamp notifies that an obstacle or the like is present behind the center of the excavator by blinking, and informs the distance from the excavator to the obstacle or the like by changing the length of the blinking cycle.
JP 2002-327470 A Japanese Patent Laid-Open No. 7-102596

  The prior art disclosed in Patent Document 1 displays the direction of an obstacle or the like with respect to a hydraulic excavator on a monitor panel for notification. For this reason, the driver needs to check whether there are any obstacles in the traveling direction of the hydraulic excavator or the turning direction of the revolving structure by looking at the monitor panel. There is a risk of contact accidents. In addition, since the operation is interrupted while the driver checks the monitor panel to check whether there is an obstacle or the like and the position of the obstacle with respect to the hydraulic excavator, the work efficiency is lowered.

  In the prior art disclosed in Patent Document 2, a buzzer notifies that an obstacle or the like exists around the hydraulic excavator, and the position of the obstacle or the like relative to the hydraulic excavator is indicated on the right side, the left side, and the center. Notification is given by the rear display lamp. In this conventional technology, the driver is alerted by the buzzer for the presence or absence of obstacles, etc., which can contribute to the reduction of contact accidents. However, as in the conventional technology disclosed in Patent Document 1, the driver views the display lamp. Since the operation is interrupted while the position of an obstacle or the like with respect to the hydraulic excavator is confirmed, the work efficiency is lowered.

  The present invention has been made in consideration of the above-mentioned actual situation, and the purpose of the present invention is to grasp the direction of the obstacle with respect to the work machine while working without forgetting to confirm the presence or absence of the obstacle. An object of the present invention is to provide a working machine that can perform the above.

  [1] In order to achieve the above object, the present invention provides a plurality of object detection means for detecting the presence of an object around the work machine and outputting an object detection signal, and the work machine based on the object detection signal. A work machine comprising: control means for determining a direction of an object relative to the vehicle, and outputting a control signal corresponding to the direction determined to be present; and a notification means for notifying a driver of the direction of the object determined by the control means The alarm means includes a plurality of alarm sound generating means that are provided around the driver's seat to generate an alarm sound, and the control means is such that the driver feels that the alarm sound has been heard from the direction in which it is determined that the object is present. In addition, the plurality of alarm sound generating means is selectively controlled.

  In the present invention configured as described above, when the object detection unit detects an object existing around the work machine, that is, an obstacle or a person and outputs an object detection signal, the direction determination unit determines the direction of the object with respect to the work machine. The determination is based on the detection signal. The warning sound control means of the notification means selectively selects a plurality of warning sound generating means so that the driver feels that the warning sound has been heard from the direction in which the object exists, according to the direction of the object determined by the direction determination means. To control. Thus, the driver can grasp the direction of the obstacle with respect to the work machine while working without forgetting to confirm the presence or absence of the obstacle.

  [2] According to the present invention, in the invention according to [1], the object detection unit detects a distance from the object to the object, and outputs an object detection signal corresponding to the distance. The alarm sound generating means is controlled so that the alarm sound changes according to the distance detected by the object detecting means.

  The present invention configured as described above can notify the driver of the distance of the obstacle to the work machine.

  [3] The present invention is the invention according to [1], comprising a turning body or a traveling body, wherein the control means provides turning angle information indicating a turning angle of the turning body with respect to the traveling body or a traveling direction of the traveling body. The warning sound generating means is controlled so that the warning sound changes in accordance with the traveling direction information indicating.

  According to the present invention configured as described above, the level of the risk of contact between the work machine and the obstacle, which changes due to the turning angle of the turning body with respect to the running body or the traveling direction of the running body, can be determined by changing the alarm sound. The driver can be notified.

  [4] According to the present invention, in the invention according to any one of [1] to [3], the number of the alarm sound generating means is the same as the number of the object detecting means so as to correspond to each of the plurality of object detecting means. And the control means controls the plurality of alarm sound generation means so that an alarm sound is generated from the alarm sound generation means corresponding to the object detection means that has detected the presence of an object. It is characterized by that.

  According to the present invention, the driver can grasp the direction of the obstacle with respect to the work machine without forgetting to confirm the presence or absence of the obstacle, etc., thereby contributing to improvement of safety and work efficiency. it can.

<First Embodiment>
FIG. 1 is a perspective view showing an external appearance of a first embodiment of a working machine according to the present invention. FIG. 2 is a first embodiment shown in FIG. FIG. 3 is a plan view showing the interior of the cab shown in FIG. 1, and FIG. 4 is an ultrasonic sensor provided in the first embodiment shown in FIG. FIG. 5 is a flowchart showing processing performed by the direction determining means shown in FIG. 2, FIG. 6 is a flowchart showing processing performed by the alarm sound control means shown in FIG. 2, and FIG. FIG. 8 is a diagram illustrating an example of a function set in advance for calculating the reference volume in the process shown in FIG. 6, and FIG. 8 is a diagram for forward movement set in advance to determine a target volume during advance in the process shown in FIG. One of the alarm sound generation table FIG. 9 is a diagram showing an example of a reverse warning sound generation table set in advance for determining the target sound volume during reverse travel in the process shown in FIG. 6, and FIG. 10 is a diagram showing the process shown in FIG. FIG. 11 is a diagram showing an example of an alarm sound generation table for turning right that is set in advance to determine the target volume for turning right, and FIG. 11 is for determining the target volume for turning left in the process shown in FIG. It is a figure which shows an example of the alarm sound production | generation table for the left turn preset in FIG.

  As shown in FIG. 1, the first embodiment is applied to, for example, a hydraulic excavator 1, and is supported by a driving rod (not shown) supported by a driving wheel support portion 5 and a driven wheel support portion 6. A traveling body including a left traveling body portion 3 including a crawler belt 7 wound around a driven wheel (not shown) and a right traveling body portion 4 (see FIG. 4) configured similarly to the left traveling body portion 3. 2 is provided. On the traveling body 2, a revolving body 8 including a cab 9, a machine room 10 and a counterweight 11 is provided so as to be able to turn. A front work machine 12 is provided in the center of the front part of the revolving structure 8. The front work machine 12 includes a boom 13 that is movably pin-coupled to the front center of the revolving structure 8, an arm 14 that is pin-coupled to the tip of the boom 13, and a pin that is pivotable to the tip of the arm. And a bucket 15 to be coupled.

  Further, in the first embodiment, as shown in FIG. 2, boom cylinders 16 and 17 that drive the boom 13, an arm cylinder 18 that drives the arm 14, a bucket cylinder 19 that drives the bucket 15, and a swing body 8, a right traveling motor 21 that drives the right traveling portion of the traveling body 2, and a left traveling motor 22 that drives the left traveling body portion 3.

  Further, in the first embodiment, as shown in FIG. 2, when the front right operation lever 25 is tilted in the left-right direction, a bucket command signal for commanding the operation of the bucket cylinder 19 is output, When the right operating lever 25 is tilted in the front-rear direction, a front right operating lever device 24 is provided that outputs a boom command signal that commands the operation of the boom cylinders 16 and 17. Further, when the front left operation lever 27 is tilted in the left-right direction, a turn command signal for instructing the operation of the swing motor 20 is output, and when the front left operation lever 27 is tilted in the front-rear direction, the arm A front left operation lever device 26 for outputting an arm command signal for commanding the operation of the cylinder 18 is provided. In addition, when the traveling right operation lever 29 is tilted in the front-rear direction, the traveling right operation lever device 28 that outputs a left traveling command signal that commands the operation of the right traveling motor 21 and the front and rear of the traveling left operation lever 31 are output. And a travel left operation lever device 30 that outputs a left travel command signal for commanding the operation of the left travel motor 22 in accordance with a tilting operation in the direction.

  As shown in FIG. 3, the front right control lever device 24 is provided in front of an armrest 23 a that forms the right side portion of the driver seat 23 installed in the cab 9. The front left operating lever device 26 is provided in front of an armrest 23 b that forms the left side portion of the driver seat 23. The traveling right operation lever device 28 and the traveling left operation lever device 30 are provided in front of the seat portion 23 c of the driver seat 23.

  Moreover, 1st Embodiment is provided with the turning angle detector 32 which detects the turning angle with respect to the traveling body 2 of the turning body 8 as shown in FIG. A boom angle detector 33, an arm angle detector 34, and a bucket angle detector 35 that detect the rotation angles of the boom, arm, and bucket are also provided.

  Further, as shown in FIG. 2, the first embodiment includes an actuator control device 36. In response to command signals from the operation lever devices 24, 26, 28, and 30, the actuator control device 36 includes a bucket cylinder 19, boom cylinders 16 and 17, arm cylinder 18, turning motor 20, right traveling motor 21, Actuator control means 37 for controlling the operations of the left traveling motor 22 and the left traveling motor 22 is provided. The actuator control means 37 supplies pressure oil to be supplied to each of the bucket cylinder 19, the boom cylinders 16 and 17, the arm cylinder 18, the turning motor 20, the right traveling motor 21, and the left traveling motor 22 in accordance with each command signal. It consists of a hydraulic circuit to control.

  Further, the actuator control device 36 receives each command signal input from the operation lever devices 24, 26, 28, 30 to the actuator control means 37 and an angle signal indicating the turning angle detected by the turning angle detector 32. Based on the above, there is provided an operation information management means 38 that creates and holds operation information indicating the operation of the excavator 1. For example, the operation information is generated based on the travel command signals from the travel right operation lever device 28 and the travel left operation lever device 30 and travel direction information indicating the travel direction of the traveling body 2, and the turning angle detector 32. And the turning angle information indicating the turning direction of the revolving structure 8 which is generated based on the turning command signal from the left operation lever device 26 for the front. is there.

  In addition, as shown in FIGS. 2 and 4, the first embodiment detects the presence of an object around the swing body 8 and outputs an object detection signal, for example, the right side of the swing body 8, Three ultrasonic sensors 39 to 41 are provided on each of the left part and the rear part and detect the distance from the object to the object and output an object detection signal. In FIG. 4, D1 is a preset danger radius, and D2 is a caution radius preset outside the danger radius.

  As shown in FIGS. 2 and 3, the first embodiment is provided on each of the left side, the right side, and the rear side of the driver's seat 23 and generates warning sound, that is, speakers 42 to 44. It has.

  Further, the first embodiment includes a control unit that controls the speakers 42 to 44, that is, a speaker control device 45. The speaker control device 45 includes direction determination means 46 that determines the direction of an object with respect to the excavator 1 based on object detection signals from the ultrasonic sensors 39 to 41.

  Processing performed by the direction determination unit 46 will be described with reference to FIG. As shown in FIG. 5, the direction determination unit 46 is activated at a constant cycle by a timer incorporated therein, for example, by timer interruption every 10 ms, and obtains an object detection signal from the ultrasonic sensors 39 to 41 ( (STEP 101). Next, each of the object detection signals is converted into distance values Da, Db, and Dc (STEP 102). That is, it is determined whether or not an object exists for each of the left side, the rear side, and the right side of the revolving structure 8. Next, the distance values Da, Db, Dc are sent to a warning sound control means 47 described later (STEP 103), and the process is terminated.

  The speaker control device 45 also controls the alarm sound control for controlling the speakers 42 to 44 in accordance with the distance values Da, Db, Dc obtained from the direction determination means 46 and the operation information obtained from the operation information management means 38. Means 47 are provided.

  Processing performed by the alarm sound control means 47 will be described with reference to FIG. As shown in FIG. 6, the alarm sound control means 47 starts processing when distance values Da, Db, Dc are sent from the direction determination means 46, and these distance values Da, Db, Dc are set in advance. Using the function f1 (see FIG. 7), the reference volume Va, Vb, Vc of the alarm sound is calculated (STEP 201). Next, operation information is obtained by requesting the operation information management means 38 (STEP 202). Next, using this operation information, distance values Da, Db, Dc and a preset alarm sound generation table (see FIGS. 8 to 11) set in advance, the reference sound volumes Va, Vb, Vc are corrected, Target volume Va_out, Vb_out, and Vc_out are determined (STEP 203). Next, an alarm sound control signal corresponding to each of these target volumes Va_out, Vb_out, and Vc_out is output to each of the speakers 42 to 44 (STEP 204), and the process is terminated.

  As shown in FIG. 7, the function f1 used in STEP 201 defines the correspondence (V = f1 (D)) between the distance D from the ultrasonic sensor to the obstacle and the volume V of the speaker. . This correspondence V = f1 (D) is set so that the basic volume V = 0 is obtained when the distance D is greater than or equal to the caution radius D2, and the larger volume V is obtained as the distance D is smaller than the caution radius D2. It is. That is, each of the reference volumes Va, Vb, and Vc is calculated by the correspondence relationships Va = f1 (Da), Vb = f1 (Db), and Vc = f1 (Dc) determined by the function f1.

  The alarm sound generation table used in STEP 203 is shown in FIGS. 8 to 11, μ is a coefficient (0 <μ <1) for correcting the volume, and is a preset value. Further, the forward movement is a state in which the traveling body 2 travels to the driven saddle support portion 6 side, that is, in the direction of arrow F in FIG. 1, and the backward movement refers to the traveling body to the drive wheel support portion 5 side, that is, FIG. It is the state which drive | works to the arrow B direction. When the turning angle is 0 °, the cab 9 of the turning body 8 is located on the driven saddle support portion 6 side, the counterweight 11 is located on the drive rod support portion 5 side, and the turning body 8 and the traveling body. 2 is parallel. The turning angle is the angle of the turning body 8 with respect to the traveling body 2 when the turning body 8 turns counterclockwise from the state where the turning angle = 0 °.

[When moving forward]
When the traveling direction information is information indicating forward movement, the forward warning sound generation table shown in FIG. 8 is used, and the target volume is set as shown in (1) to (4) below according to the turning angle information (posture). Va_out, Vb_out, and Vc_out are determined.

(1) When moving forward with the turning angle = 0 ° The target volume Va_out is the product of the coefficient μ and the reference volume Va (μ × when the distance value Da is less than or equal to the preset danger radius D1 (Da ≦ D1). Va), and 0 otherwise. The target volume Vb_out is determined to be 0 regardless of the distance value Db. The target volume Vc_out is determined to be the product (μ × Vc) of the coefficient μ and the reference volume Vc when the distance value Dc is equal to or less than the preset danger radius D1 (Dc ≦ D1), and is set to 0 otherwise. Is done.

(2) When moving forward with the turning angle = 90 ° The target volume Va_out is determined to be 0 regardless of the distance value Da. The target volume Vb_out is determined to be the product (μ × Vb) of the coefficient μ and the reference volume Vb when the distance value Da is equal to or less than the danger radius D1 (Db ≦ D1), and is set to 0 otherwise. The target volume Vc_out is determined as the reference volume Vc when the distance value Dc is equal to or smaller than the caution radius D2 (Dc ≦ D1, D1 <Dc ≦ D2), and when the distance Dc is larger than the caution radius D2 (D2 <Dc). 0 is determined.

(3) When moving forward with the turning angle = 180 ° The target volume Va_out is determined as the product (μ × Va) of the coefficient μ and the reference volume Va when the distance value Da is equal to or less than the danger radius D1 (Da ≦ D1). Otherwise, it is determined as 0. The target volume Vb_out is determined to be the reference volume Vb when the distance value Db is equal to or less than the caution radius D2 (Db ≦ D1, D1 <Db ≦ D2), and when the distance value Db is larger than the caution radius D2 (D2 <Db). Is determined to be zero. The target volume Vc_out is determined to be the product (μ × Vc) of the coefficient μ and the reference volume Vc when the distance value Dc is equal to or less than the danger radius D1 (Dc ≦ D1), and is determined to be 0 otherwise.

(4) When moving forward with the turning angle = 270 ° The target volume Va_out is determined as the reference volume Va when the distance value Da is equal to or less than the attention radius D2 (Da ≦ D1, D1 <Da ≦ D2). When Da is larger than the attention radius D2 (D2 <Da), it is determined as 0. The target volume Vb_out is determined to be the reference volume Vb when the distance value Db is equal to or less than the danger radius D1 (Db ≦ D1), and is set to 0 otherwise. The target volume Vc_out is determined to be 0 regardless of the distance value Dc.

[Backward travel]
When the traveling direction information is information indicating that the vehicle is traveling backward, the backward alarm sound generation table shown in FIG. 9 is used, and the following (1) to (4) are performed according to the turning angle information (posture). Target volume Va_out, Vb_out, Vc_out is determined.

(1) When traveling backward with the turning angle = 0 ° The target volume Va_out is determined as the product of the coefficient μ and the reference volume Va (μ × Va) when the distance value Da is equal to or less than the danger radius D1 (Da ≦ D1). Otherwise, it is determined as 0. The target volume Vb_out is determined to be the reference volume Vb when the distance value Db is equal to or less than the caution radius D2 (Db ≦ D1, D1 <Db ≦ D2), and when the distance value Db is larger than the caution radius D2 (D2 <Db). Is determined to be zero. The target volume Vc_out is determined as a product (μ × Vc) of the coefficient μ and the basic volume Vc when the distance value Dc is equal to or less than the danger radius D1 (Dc ≦ D1).

(2) In the case where the vehicle turns backward with the turning angle = 90 °, the target volume Va_out is determined as the reference volume Va when the distance value Da is equal to or less than the attention radius D2 (Da ≦ D1, D1 <Da ≦ D2). When Da is larger than the attention radius D2 (D2 <Da), it is determined as 0. The target volume Vb_out is determined to be a product (μ × Vb) of the coefficient μ and the reference volume Vb when the distance value Db is equal to or less than the danger radius D1 (Db ≦ D1), and is determined to be 0 otherwise. . The target volume Vc_out is determined to be 0 regardless of the distance value Dc.

(3) When traveling backward with the turning angle = 180 ° The target volume Va_out is determined to be the product (μ × Va) of the coefficient μ and the reference volume Va when the distance value Da is equal to or less than the danger radius D1 (Da ≦ D1). Otherwise, it is determined as 0. The target volume Vb_out is determined to be 0 regardless of the distance value Db. The target volume Vc_out is determined to be the product (μ × Vc) of the coefficient μ and the reference volume Vc when the distance value Dc is equal to or less than the danger radius D1 (Dc ≦ D1), and is determined to be 0 otherwise.

(4) When traveling backward with the turning angle = 270 ° The target volume Va_out is determined to be 0 regardless of the distance value Da. The target volume Vb_out is determined to be a product (μ × Vb) of the coefficient μ and the reference volume Vb when the distance value Db is equal to or less than the danger radius D1 (Db ≦ D1), and is determined to be 0 otherwise. . The target volume Vc_out is determined to be the product (μ × Vc) of the coefficient μ and the reference volume Vc when the distance value Dc is equal to or less than the attention radius D2 (Dc ≦ D1, D1 <Dc ≦ D2). When it is larger than the attention radius D2 (D2 <Dc), it is determined as 0.

(3) During right turn When the turn direction information is information indicating a right turn, the sound volume Va_out, Vb_out, Vc_out of the warning sound is determined using the warning sound generation table for right turn shown in FIG. To do.

  That is, the target volume Va_out is determined to be the reference volume Va when the distance value Da is equal to or less than the danger radius D1 (Da ≦ D1), and is determined to be 0 otherwise. The target volume Vb_out is determined to be the product (μ × Vb) of the coefficient μ and the reference volume Vb when the distance value Db is equal to or less than the danger radius D1 (Db ≦ D1), and is set to 0 otherwise. The target volume Vc_out is determined as the reference volume Vc when the distance value Dc is equal to or less than the caution radius D2 (Dc ≦ D1, D1 <Dc ≦ D2), and when the distance value Dc is larger than the caution radius D2 (D2 <Dc). Is determined to be zero.

(4) During left turn When the turn direction information is information indicating that the turn is left, the alarm sound volume Va_out, Vb_out, Vc_out is determined using the left turn warning sound generation table shown in FIG.

  That is, the target volume Va_out is determined as the reference volume Va when the distance value Da is equal to or less than the caution radius D2 (Da ≦ D1, D1 <Da ≦ D2), and the distance value Da is larger than the caution radius D2 (D2 <Da ) Is determined to be 0. The target volume Vb_out is determined to be the product (μ × Vb) of the coefficient μ and the reference volume Vb when the distance value Db is equal to or less than the danger radius D1 (Db ≦ D1), and is set to 0 otherwise. The target volume Vc_out is determined to be the reference volume Vc when the distance value Dc is equal to or less than the danger radius D1 (Dc ≦ D1), and is set to 0 otherwise.

  The first embodiment configured as described above operates as follows.

  For example, when an obstacle or the like exists in a region having a radius of attention D2 or less centered on the left ultrasonic sensor 39, the left ultrasonic sensor 39 detects the distance from the obstacle to the object detection signal. Is output. In the speaker control device 45, the direction determination means 46 is activated by a timer interruption every 10 ms, and when activated, the object detection signal from the ultrasonic sensor 39 is converted into a distance value Da and sent to the alarm sound control means 47.

  The alarm sound control means 47 to which the distance value Da is sent calculates the reference volume Va using the distance value Da and the function f1 shown in FIG. At this time, the smaller the distance value Da, that is, the shorter the distance from the ultrasonic sensor 39 to the obstacle or the like, the greater the reference volume Va is calculated. Next, the alarm sound control unit 47 corrects the reference volume Va using the operation information obtained by requesting the operation information management unit 38, the distance value Da, and the alarm sound generation table shown in FIGS. Then, the target volume Va_out is determined.

  Then, the alarm sound control means 47 outputs an alarm sound control signal corresponding to the target volume Va_out to the speaker 42 provided on the left side of the driver seat 23. Accordingly, the speaker 42 outputs a warning sound having a volume corresponding to the distance from the ultrasonic sensor 39 to the obstacle, the traveling direction of the traveling body 2, the turning angle with respect to the traveling body 2, and the turning direction of the turning body 8. To do.

  That is, when the hydraulic excavator 1 moves forward with the swing angle = 0 ° and the swing angle = 180 ° as shown in FIG. 8 on the left side speaker 42, only when an obstacle or the like exists within the danger radius D1. An alarm sound having a volume (μ × Va) smaller than the basic volume Va is output. Further, when the vehicle moves forward with a turning angle = 90 °, no warning sound is output (volume 0). Further, when the vehicle moves forward with a turning angle = 270 °, an alarm sound of the basic volume Va is output if an obstacle or the like is present within the caution radius D2.

  Further, as shown in FIG. 9, when the vehicle travels backward with the turning angle = 0 ° and the turning angle = 180 °, the volume “μ smaller than the basic volume Va is present only when an obstacle or the like exists within the danger radius D1. XVa "warning sound is output. Further, when the vehicle travels backward with a turning angle = 90 °, if an obstacle or the like exists within the caution radius D2, an alarm sound of the basic volume Va is output. Further, when the vehicle travels backward with a turning angle = 270 °, no alarm sound is output.

  As shown in FIG. 10, when the turning body 8 turns to the right, an alarm sound of the basic volume Va is output only when an obstacle or the like is within the danger radius D1. Also, as shown in FIG. 11, when the turning body 8 turns left, if an obstacle or the like is within the caution radius D2, an alarm sound of the reference volume Va is output.

  When an obstacle or the like is present in a region having a caution radius D2 or less centered on the rear ultrasonic sensor 40, the volume of the speaker 43 provided behind the driver seat 23 is the same as that of the speaker 42. Is determined by the speaker control device 45 using the function f1 shown in FIG. 7 and the alarm sound generation tables shown in FIGS. Further, even when an obstacle or the like is present in the area of the attention radius D2 or less centered on the right ultrasonic sensor 41, the volume of the speaker 44 provided on the right side of the driver seat 23 is similar to the speaker 42. Is determined by the speaker control device 45 using the function f1 shown in FIG. 7 and the alarm sound generation tables shown in FIGS.

  By selectively controlling the speakers 42 to 44 as described above, the contact between the excavator 1 and an obstacle due to the turning angle of the turning body 8 with respect to the traveling body 2, the traveling direction of the traveling body 2, and the turning direction. The alarm sound with a louder volume is output from the speaker on the side where an obstacle exists.

  That is, for example, when the excavator 1 moves backward in a posture where the turning angle = 0 °, the rear side of the turning body 8 that is in the traveling direction of the excavator 1 and has a high risk of contact with an obstacle or the like is within the caution radius D2. When an obstacle or the like is detected, an alarm sound of the reference volume Vb is output from the speaker 43. On the left and right sides of the revolving structure 8 that is parallel to the traveling direction and has a lower risk of contact than the rear of the revolving structure 8, if no obstacles are detected within the danger radius D 1, the speakers 42 and 44 Not only the alarm sound is not output but also the presence of an obstacle or the like is detected within the danger radius D1, the volume of the alarm sound is smaller than the reference sound volume Va, Vc (μ × Va, μ × Vc). is there.

  Further, for example, when the hydraulic excavator 1 moves backward with a turning angle = 90 °, a caution radius D2 is provided for the left side of the revolving structure 8 in which the hydraulic excavator 1 travels and the risk of contact with an obstacle is high. When the presence of an obstacle or the like is detected, an alarm sound of the reference volume Va is output from the speaker 42. On the rear side of the revolving unit 8 that is parallel to the traveling direction and has a lower risk of contact than the left side of the revolving unit 8, an alarm sound is output from the speaker 43 unless an obstacle or the like is detected within the danger radius D1. In addition to not being output, even when the presence of an obstacle or the like is detected within the danger radius D1, the volume of the alarm sound is smaller than the reference volume Vb (μ × Vb). On the right side of the revolving structure 8 that is opposite to the traveling direction and has no risk of contact with an obstacle or the like, no alarm sound is output from the speaker 44 even if an obstacle or the like is detected.

  For example, when turning the turning body 8 to the right, not only the turning body 8 but also the right side of the turning body 8 where there is a high risk of contact between the front work machine 12 and an obstacle is within the caution radius D2. When the presence of an object or the like is detected, an alarm sound of the reference volume Vc is output from the speaker 44. On the left side of the revolving structure 8 where there is a risk of contact between the revolving structure 8 and an obstacle, when the presence of an obstruction or the like is detected within the danger radius D1, an alarm sound of the reference volume Va is output from the speaker. 42. Further, for the rear side of the revolving structure 8 having less risk of obstacles or the like than the right side or the left side of the revolving structure 8, an alarm sound is output from the speaker 43 unless the presence of an obstruction is detected within the danger radius D1. Is not output, and even when the presence of an obstacle or the like is detected within the danger radius D1, the volume of the alarm sound is smaller than the reference volume Vb (μ × Vb).

  The driver determines whether the warning sound is output from the left speaker 42, the rear speaker 43, or the right speaker 44, that is, whether the warning sound is heard from the left side, the rear side, or the right side. Thus, it is possible to know whether an obstacle or the like exists on the left side, the rear side, or the right side of the revolving structure 8. Further, the level of the danger of contact between the excavator 1 and an obstacle can be grasped by the volume of the alarm sound.

  According to the first embodiment, the following effects can be obtained.

  In the first embodiment, the driver feels that an alarm sound has been heard from the direction of an obstacle with respect to the revolving structure 8 by selectively operating the left speaker 42, the rear speaker 43, and the right speaker 44. In this way, by outputting an alarm sound, it is notified whether an obstacle or the like is present on the left side, the rear side, or the right side of the revolving structure 8. Thus, the driver can grasp the direction of the obstacles with respect to the excavator 1 while working without forgetting to check the presence or absence of the obstacles around the excavator 1. As a result, safety and work efficiency can be improved.

  In the first embodiment, the volume of the alarm sound output from the speakers 42 to 44 is changed according to the turning angle of the turning body 8 with respect to the traveling body 2 and the traveling direction of the traveling body 2. The driver can be notified of the level of danger of contact between the hydraulic excavator 1 and an obstacle that changes due to the traveling direction. Further, by changing the volume of the alarm sound output from the speakers 42 to 44 in accordance with the turning direction of the turning body 8, there is a risk of contact between the hydraulic excavator 1 and the obstacle that changes due to the turning direction. It is possible to notify the driver of the height. Thus, it is possible to determine in more detail whether the driver continues or interrupts the work. As a result, work efficiency can be improved.

  The first embodiment is an example in which the object detection unit is configured by three ultrasonic sensors 39 to 41, but the present invention does not limit the number of ultrasonic sensors to three. In addition, the object detection means is not limited to an ultrasonic sensor, and any object detection means can be used as long as it can detect an object present at a position away from itself, and can detect the presence of an object using infrared rays, a laser, or the like. An optical sensor or a camera may be used.

  In the first embodiment, the volume of the alarm sound is increased when the distance from the ultrasonic sensor to the obstacle is shortened. However, the present invention is not limited to this, and as shown in FIG. In addition, the correspondence relationship F = h (D) between the distance D and the frequency F may be determined in advance by the function h, and the frequency F may be increased when the distance D from the ultrasonic sensor to the obstacle is shortened. Further, as shown in FIG. 13, a correspondence relationship T = g (D) between the distance D and the intermittent period T is determined in advance by the function g, and the intermittent period T is shortened when the distance D from the ultrasonic sensor to the obstacle is shortened. It may be made to become. Moreover, you may combine these.

  Further, the first embodiment is an example in which the volume of the alarm sound changes in proportion to the distance from the ultrasonic sensor to the obstacle, but the present invention is not limited to this, and the alarm sound The volume may be changed stepwise or may be changed exponentially.

  Moreover, although 1st Embodiment is applied to the hydraulic shovel 1, this invention is applicable to a working machine provided with a self-propelled working machine and a turning body, a crane, a wheel loader, an aerial work vehicle. It may be applied to environmental machinery, agricultural machinery, etc.

  Further, in the first embodiment, the forward and reverse warning sound generation tables are set as shown in FIGS. 8 and 9, but the present invention is not limited to this. For example, the case of turning angle may be set to a smaller unit such as 45 ° or 30 units instead of 90 °. Further, the case classification may be performed not only by the turning angle but also by the posture of the front work machine 12. In addition, the traveling speed is added as a condition for determining the volume, the volume is determined as the reference volume when the traveling speed is equal to or higher than the predetermined speed, and the volume is determined by the product of the coefficient and the reference volume when the traveling speed is lower than the predetermined speed. Good.

  In the first embodiment, the right turn and left turn warning sound generation tables are set as shown in FIGS. 10 and 11, but the present invention is not limited to this. For example, if the turning speed is added as a condition for determining the volume, the volume is determined as the reference volume when the turning speed is equal to or higher than the predetermined speed, and the volume is determined as the product of the coefficient and the reference volume when the turning speed is lower than the predetermined speed. Good.

<Second Embodiment>
A second embodiment of the work machine of the present invention will be described with reference to FIGS. FIG. 14 is a block diagram showing a speaker control device provided in the second embodiment of the present invention, FIG. 15 is a plan view of the interior of the cab showing the arrangement of the speakers shown in FIG. 14, and FIG. FIG. 17 is a flowchart showing the process performed by the alarm sound control unit shown in FIG. 14, and FIG. 18 is a flowchart for calculating the reference volume in the process shown in FIG. FIG. 19 is a diagram illustrating an example of a set function, FIG. 19 is a diagram illustrating an example of the positional relationship between an obstacle and the driver's seat, and FIG. 20 illustrates another example of the positional relationship between the obstacle and the driver's seat. FIG.

  As shown in FIG. 14, the second embodiment includes, for example, three scanning laser sensors 48 to 50 that detect, for example, the direction and distance of an object with respect to the object and output an object detection signal. ing. Although not shown, each of these laser sensors 48 to 50 is provided on each of the left side portion, the right side portion, and the rear portion of the swivel body 8 in the same manner as the ultrasonic sensors 39 to 41 of the first embodiment.

  Further, in the second embodiment, as shown in FIGS. 14 and 15, four speakers 51 provided as an alarm sound generating means on the left diagonal front, left diagonal rear, right diagonal rear, and right diagonal front of the driver's seat 23. -54. The distance from the speaker 51 on the left diagonal front to the position Pop of the driver's seat 23 (see FIGS. 19 and 20) and the distance from the speaker 52 on the diagonally rear left to the position Pop of the driver's seat 23 are equal. In addition, the distance from the left diagonally rear speaker 52 to the position Pop of the driver's seat 23 and the distance from the diagonally right rear speaker 53 to the position Pop of the driver's seat 23 are also made equal. Further, the distance from the speaker 53 on the right front side to the position Pop of the driver's seat 23 is also equal to the distance from the speaker 54 on the right rear side to the position Pop of the driver's seat 23.

  Further, in the second embodiment, the speaker control device 55 determines the position of an obstacle or the like with respect to a predetermined position of the excavator 1, for example, the position Pop of the driver's seat 23 based on the object detection signal from each of the laser sensors 48 to 50. Position calculating means 56 for calculating Pob (see FIGS. 19 and 20) is provided.

  The processing performed by the position calculation means 56 will be described with reference to FIG. As shown in FIG. 16, the position calculation means 56 is activated at a constant cycle by a timer incorporated therein, for example, by timer interruption every 10 ms, and obtains an object detection signal from the laser sensors 48 to 50 (STEP 301). ). Next, the position Pob of the object is calculated based on the object detection signal (STEP 302). Next, position information indicating the position Pob of the object is sent to an alarm sound control means 57 described later (STEP 303), and the process is terminated.

  The speaker control device 55 selectively selects the speakers 51 to 54 so that the driver who has heard the alarm sound from the direction in which the object is present feels based on the position Pob of the object calculated by the position calculating means 56. A warning sound control means 57 is provided for controlling, for example, the volume of the warning sound according to the distance from the position Pop of the driver seat 23 to the position Pop.

  Processing performed by the alarm sound control means 57 will be described with reference to FIG. As shown in FIG. 17, the alarm sound control means 57 starts processing when position information is sent from the position calculation means 56, and calculates a reference volume V of the alarm sound (STEP 401). Next, target sound volumes V1_out, V2_out, V3_out, and V4_out of the speakers 51 to 54 are calculated (STEP 402). Next, an alarm sound control signal corresponding to each of the target sound volumes V1_out, V2_out, V3_out, and V4_out is output to each of the speakers 51 to 54 (STEP 403), and the process ends.

  In STEP 401, the reference volume V is calculated as follows. First, as shown in FIGS. 19 and 20, from the position Pop of the obstacle shown in the position information sent from the position calculation means 56 and the position Pop of the driver seat 23 stored in advance, the obstacle from the driver seat 23 is detected. The distance L to the object is calculated. Next, the reference volume V is calculated from the distance L and the function f2 shown in FIG. The function f2 shown in FIG. 18 defines the relationship between the distance L and the reference volume V (V = f2 (L)). This V = f2 (L) is set so that a larger basic volume V is obtained as the distance L becomes smaller.

  In STEP 402, the target sound volumes V1_out, V2_out, V3_out, and V4_out are calculated as follows.

  When an obstacle or the like is detected by the laser sensor 48 on the left side of the swivel body 8, the alarm sound control means 57 is shown in the position information sent from the position calculation means 56 as shown in FIGS. The distance L1 from the speaker 51 diagonally to the left front of the driver's seat 23 to the obstacle, etc. A distance L2 from an obstacle etc. is calculated from the speaker 52 diagonally to the left of the driver's seat 23.

  Then, the target sound volumes V1_out and V2_out are calculated using the following two expressions stored in advance.

V1_out = V + (L2−L1) / L × V (i)
V2_out = V + (L1-L2) / L × V (ii)
Thereby, the volume of the alarm sound output from each of the speakers 51 and 52 changes according to the difference between the distance L1 and the distance L2.

  As a result, as shown in FIG. 19, when the distance L1 and the distance L2 are equal, both the target volume V1_out and V2_out become the reference volume V. As shown in FIG. 20, when the distance L1 is greater than the distance L2 (L1> L2), the target volume V1_out is smaller than the target volume V2_out (V1_out <V2_out).

  Similarly, when an obstacle or the like is detected by the laser sensor 49 at the rear of the revolving unit 8, the alarm sound control means 57 includes the position Pob of the obstacle or the like indicated by the position information sent from the position calculation means 56, and Based on the positions P2 and P3 of the speakers 52 and 53 stored in advance, the distance L2 from the speaker 52 diagonally to the left rear of the driver seat 23 to an obstacle, and the diagonally right rear of the driver seat 23 The distance L3 to the obstacle or the like from the speaker 53 is calculated, and “V2_out = V + (L3−L2) / L × V” and “V3_out = V + (L2−L3) / L × V” stored in advance are calculated. The target sound volume V2, _out, V3_out is calculated using this.

  Similarly, when an obstacle or the like is detected by the laser sensor 50 on the right side of the swivel body 8, the alarm sound control means 57 similarly detects the position of the obstacle or the like indicated by the position information sent from the position calculation means 56. Based on Pob and the positions P3 and P4 of the speakers 53 and 54 stored in advance, the distance L3 from the speaker 53 diagonally to the right rear of the driver seat 23 to an obstacle, etc. The distance L4 to the obstacle or the like is calculated from the speaker 54 diagonally right forward, and “V3_out = V + (L4−L3) / L × V” and “V4_out = V + (L3−L4) / L ×” are stored in advance. V ”is used to calculate the target volume V2, _out, V3_out.

  The operation of the second embodiment configured as described above operates as follows.

  For example, when an obstacle or the like is present on the left side of the swivel body 8, the left laser sensors 48 to 50 detect the direction and distance of the obstacle or the like with respect to itself and output an object detection signal. In the speaker control device 55, the position calculation means 56 is activated by a timer interrupt every 10 ms, and when activated, the position Pob of an obstacle or the like is calculated from the object detection signals from the laser sensors 48 to 50, and this position is calculated. Position information indicating Pob is sent to the alarm sound control means 57.

  The alarm sound control means 57 to which the position information is sent calculates a distance L from the driver seat 23 to the obstacle or the like from the position Pop indicated in the position information and the position Pop of the driver seat 23 stored in advance. The reference volume V is calculated using the function f2 shown in FIG. At this time, as the distance L is shorter, a larger reference volume V is calculated.

  Next, the alarm sound control means 57 is configured such that the distance L1 from each of the speakers 51, 52 to the obstacle, etc., from the position Pob of the obstacle, etc. and the respective positions P1, P2 of the speakers 51, 52 stored in advance. , L2 are calculated, the basic volume V is corrected using the previously stored equations (i) and (ii), and the target volumes V1_out and V2_out are determined.

  Then, the warning sound control means 57 outputs a warning sound control signal corresponding to the target volume V1_out to the speaker 51 diagonally to the left of the driver seat 23, and outputs a warning sound control signal corresponding to the target volume V2_out to the driver seat 23. Is output to the speaker 52 diagonally to the left of the left.

  That is, as shown in FIG. 19, when the distance L1 from the left diagonal front speaker 51 to the obstacle, etc. is equal to the distance L2 from the left diagonal rear speaker 52 to the obstacle, the speakers 51, 52. Will output an alarm sound with the same volume. As a result, the driver feels that the alarm sound has been heard from the left side, and grasps that an obstacle or the like exists on the left side of the cab 9.

  In addition, as shown in FIG. 20, when the distance L1 from the left diagonal front speaker 51 to the obstacle or the like is larger than the distance L2 from the left diagonal rear speaker 52 to the obstacle or the like, the volume of the speaker 51 The volume of the speaker 52 becomes larger than that. As a result, the driver feels that the alarm sound has been heard from the diagonally left rear, and grasps that an obstacle or the like exists behind the cab 9 diagonally to the left.

  Further, the volume of the alarm sound output from the speakers 51 and 52 increases as the distance L from the driver's seat 23 to the obstacle or the like becomes shorter. The distance to an object etc. can be grasped.

  According to the second embodiment, the following effects can be obtained.

  In the second embodiment, the left diagonal front speaker 51 and the left diagonal rear speaker 52, the left diagonal rear speaker 52 and the right diagonal rear speaker 53, and the right diagonal rear speaker 53 and the right diagonal front speaker 54 are shown. Are selectively activated, and an alarm sound is output so that the user feels that an alarm sound has been heard from the direction of the obstacle to the cab 9, thereby informing the direction of the obstacle to the cab 9. As a result, the driver can grasp the direction of the obstacle with respect to the excavator 1 while working without forgetting to confirm the presence or absence of the obstacle around the excavator 1. As a result, safety and work efficiency can be improved.

  In the second embodiment, the distance from the driver's seat 23 to the obstacle or the like is notified by changing the volume of the alarm sound according to the distance L from the driver's seat 23 to the obstacle or the like. As a result, the driver can grasp the level of danger of contact between the excavator 1 and an obstacle. That is, it is possible to determine in more detail whether the work is continued or interrupted. As a result, work efficiency can be improved.

  The second embodiment is an example in which the object detection means is configured by three scanning laser sensors 48 to 50. However, the present invention is not limited to this, and an object existing at a position away from itself is not limited thereto. A sensor that can detect the direction and the distance to itself without contact, for example, a sensor using an ultrasonic transponder method or a millimeter wave radar may be used. Further, the number of sensors constituting the object detection means is not limited to three.

  Moreover, although 2nd Embodiment is an example which provided the four speakers 51-54 arrange | positioned at the diagonally left front of the driver's seat 23, diagonally left backward, diagonally right backward, and diagonally right forward, respectively, this invention. The number of speakers is not limited to this.

  In the second embodiment, the target sound volume V1_out of the speaker 51, the target sound volume V2_out of the speaker 52, the target sound volume V3_out of the speaker 53, and the target sound volume V4_out of the speaker 54 are calculated from the driver seat 23 to the obstacle. The distance L from the speaker 51 to the obstacle, the distance L2 from the speaker 52 to the obstacle, the distance L3 from the speaker 53 to the obstacle, the distance L4 from the speaker 54 to the obstacle, etc. The calculation method using (i), (ii), etc. is an example. However, the present invention is not limited to this, and an alarm sound can be output from the direction in which an obstacle or the like exists toward the driver, and the driver's seat 23 Any calculation method that increases the volume of the alarm sound as the distance L from the obstacle to the obstacle is shorter.

  In the second embodiment, the predetermined position of the excavator 1 serving as a reference for the position of an obstacle or the like is the driver's seat 23. However, the present invention is not limited to this. May be.

  In the second embodiment, the target volume of one speaker and the other are determined according to the difference between the distance from one of the two speakers to be operated to the obstacle and the distance from the other to the obstacle. However, the present invention is not limited to this. For example, a control for shifting the timing at which the two speakers output an alarm sound is added according to the difference. Also good. With this configuration, the driver can be informed of the direction of an obstacle or the like accurately.

It is a perspective view showing appearance of a 1st embodiment of a working machine of the present invention. It is a block diagram which shows the actuator control apparatus and speaker control apparatus with which 1st Embodiment shown in FIG. 1 is equipped. It is a top view which shows the inside of a driver's cab shown in FIG. It is a top view which shows arrangement | positioning of the ultrasonic sensor with which 1st Embodiment shown in FIG. 1 is equipped. It is a flowchart which shows the process performed by the direction determination means shown in FIG. It is a flowchart which shows the process performed by the warning sound control means shown in FIG. It is a figure which shows an example of the function preset in order to calculate a reference | standard sound volume in the process shown in FIG. FIG. 7 is a diagram illustrating an example of a forward warning sound generation table that is set in advance to determine a target sound volume during forward movement in the process illustrated in FIG. 6. FIG. 7 is a diagram illustrating an example of a reverse warning sound generation table that is set in advance to determine a target sound volume during reverse travel in the process illustrated in FIG. 6. It is a figure which shows an example of the warning sound production | generation table for right turning preset in order to determine the target sound volume at the time of right turning in the process shown in FIG. It is a figure which shows an example of the alarm sound generation table for left turning preset in order to determine the target sound volume at the time of left turning in the process shown in FIG. It is a figure which shows an example of the function preset in order to change the frequency of an alarm sound according to the distance from an ultrasonic sensor to an obstruction. It is a figure which shows an example of the function preset in order to change the intermittent period of an alarm sound according to the distance from an ultrasonic sensor to an obstruction. It is a block diagram which shows the speaker control apparatus with which the 2nd Embodiment of this invention is equipped. It is a top view of the inside of a driver's cab which shows arrangement | positioning of the speaker shown in FIG. It is a flowchart which shows the process performed by the position calculating means shown in FIG. It is a flowchart which shows the process performed by the warning sound control means shown in FIG. It is a figure which shows an example of the function preset in order to calculate a reference | standard sound volume in the process shown in FIG. It is a figure which shows an example of the positional relationship of an obstruction etc. and a driver's seat. It is a figure which shows another example of the positional relationship of an obstruction etc. and a driver's seat.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Hydraulic excavator 2 Traveling body 3 Left traveling body part 4 Right traveling body part 5 Drive rod support part 6 Driven rod support part 7 Crawler belt 8 Turning body 9 Driver's cab 10 Machine room 11 Counter weight 12 Front work machine 13 Boom 14 Arm 15 Bucket 16, 17 Boom cylinder 18 Arm cylinder 19 Bucket cylinder 20 Turning motor 21 Right travel motor 22 Left travel motor 23 Driver's seat 24 Front right operation lever device 25 Front right operation lever 26 Front left operation lever device 27 Front left operation Lever 28 Traveling right operation lever device 29 Traveling right operation lever 30 Traveling left operation lever device 31 Traveling left operation lever 32 Turning angle detector 33 Boom angle detector 34 Arm angle detector 35 Bucket angle detector 36 Actuator control Device 37 Actue Control means 38 operation information management means 39 to 41 ultrasonic sensors 42 to 44 speaker 45 speaker control device 46 direction determination means 47 alarm sound control means 48 to 50 scan type laser sensor 51 to 54 speaker 55 speaker control device 56 position calculation means 57 Alarm sound control means

Claims (4)

A plurality of object detection means for detecting the presence of an object around the work machine and outputting an object detection signal, and determining the direction of the object with respect to the work machine based on the object detection signal, in the direction in which the object is determined to exist In a work machine comprising control means for outputting a corresponding control signal, and notification means for notifying the driver of the direction of the object determined by the control means,
The notification means comprises a plurality of warning sound generating means for generating a warning sound provided around the driver's seat,
The work machine is characterized in that the control means selectively controls the plurality of warning sound generating means so that the driver feels that a warning sound has been heard from a direction in which it is determined that an object is present. In the invention of claim 1,
The object detection means detects a distance from itself to an object, and outputs an object detection signal corresponding to the distance,
A work machine characterized in that the control means controls the warning sound generating means so that the warning sound changes according to the distance detected by the object detecting means. In the invention of claim 1,
It has a swiveling body or traveling body
The control means controls the warning sound generating means so that the warning sound changes according to turning angle information indicating a turning angle of the turning body relative to the traveling body or traveling direction information indicating a traveling direction of the traveling body. A working machine characterized by In the invention according to any one of claims 1 to 3,
The warning sound generating means is provided in the same number and substantially in the same direction as the object detecting means so as to correspond to each of the plurality of object detecting means,
The work machine controls the plurality of warning sound generating means so that a warning sound is generated from the warning sound generating means corresponding to the object detecting means that has detected the presence of an object.

Images